US11751967B2 - Fingers-driven haptic interface for robot-assisted surgical system - Google Patents
Fingers-driven haptic interface for robot-assisted surgical system Download PDFInfo
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- US11751967B2 US11751967B2 US16/931,442 US202016931442A US11751967B2 US 11751967 B2 US11751967 B2 US 11751967B2 US 202016931442 A US202016931442 A US 202016931442A US 11751967 B2 US11751967 B2 US 11751967B2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00438—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping connectable to a finger
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
- A61B2017/00539—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated hydraulically
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00973—Surgical instruments, devices or methods, e.g. tourniquets pedal-operated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/741—Glove like input devices, e.g. "data gloves"
Definitions
- Surgical robotic systems are typically comprised of one or more robotic manipulators and a user interface.
- the robotic manipulators carry surgical instruments or devices used for the surgical procedure.
- a typical user interface includes input devices, or handles, manually moveable by the surgeon to control movement of the surgical instruments carried by the robotic manipulators.
- the surgeon uses the interface to provide inputs into the system and the system processes that information to develop output commands for the robotic manipulator.
- haptic feedback is communicated to the surgeon in the form of forces applied by motors to the surgeon interface, so that as the surgeon moves the handles of the surgeon interface, s/he feels resistance against movement representing the direction and magnitude of forces experienced by the robotically controlled surgical device.
- Forces represented can include both the forces at the tips of the robotically controlled devices and/or the forces being applied by the shaft of the robotically controlled device to the trocar at the entrance point to the body, giving the surgeon complete understanding of the forces applied to the device so s/he can better control the device during surgery.
- the present application describes a haptic user input device that is worn on the hand and that generates input to the system via articular of the user's fingers and that communicates haptic feedback to the user using inflatable bladders positioned on the user's fingers.
- FIG. 1 shows an example of a robot-assisted surgical system
- FIG. 2 illustrates components of a first embodiment of a haptic user interface
- FIG. 3 shows a surgical instrument in a curved configuration
- FIG. 4 schematically illustrates degrees of freedom of finger motion that may be used to give input using a fingers-driven haptic interface of the type described herein, and further illustrates positioning of the haptic bladders relative to the degrees of freedom.
- This application describes a haptic user interface for a robot-assisted surgical system.
- the inventions described herein may be used on a variety of robotic surgical systems, the embodiments will be described with reference to a system of the type shown in FIG. 1 .
- a surgeon console 12 has two input devices such as the new haptic interface described below, and/or handles 17 , 18 .
- the new haptic interface described below may be provided in lieu of, or in addition to, the handles 17 , 18 . Where both types are provided, the user might choose to utilize the more conventional user input devices 17 , 18 to give input when performing certain surgical tasks, and to use the new haptic interface for other surgical tasks.
- the input devices are configured to be manipulated by a user to generate signals that are used to command motion of a robotically controlled device in multiple degrees of freedom.
- the user selectively assigns the two input devices to two of the robotic manipulators 13 , 14 , 15 , allowing surgeon control of two of the surgical instruments 10 a , 10 b , and 10 c disposed at the working site at any given time.
- one of the two input devices is operatively disengaged from one of the initial two instruments and then operatively paired with the third instrument.
- a fourth robotic manipulator may be optionally provided to support and maneuver an additional instrument.
- One of the instruments 10 a , 10 b , 10 c is a camera that captures images of the operative field in the body cavity.
- the camera may be moved by its corresponding robotic manipulator using input from a variety of types of input devices, including, without limitation, one of the new haptic interface devices, the handles 17 , 18 , additional controls on the console, a foot pedal, an eye tracker 21 , voice controller, etc.
- the console may also include a display or monitor 23 configured to display the images captured by the camera, and for optionally displaying system information, patient information, etc.
- a control unit 30 is operationally connected to the robotic arms and to the user interface.
- the control unit receives user input from the input devices corresponding to the desired movement of the surgical instruments, and the robotic arms are caused to manipulate the surgical instruments accordingly.
- the input devices are configured to be manipulated by a user to generate signals that are processed by the system to generate instructions used to command motion of the manipulators in order to move the instruments in multiple degrees of freedom.
- one or more of the degrees of freedom of the handles may be coupled with an electromechanical system capable of providing gravity compensation for the user input, and/or providing haptic feedback to the surgeon.
- the surgical system allows the operating room staff to remove and replace surgical instruments carried by the robotic manipulator, based on the surgical need. Once instruments have been installed on the manipulators, the surgeon moves the input devices to provide inputs into the system, and the system processes that information to develop output commands for the robotic manipulator in order to move the instruments and, as appropriate, operate the instrument end effectors.
- FIG. 2 schematically illustrates an embodiment of a fingers-driven haptic interface 100 .
- Each interface 100 is worn on a hand of a user, and includes acceleration and angular velocity sensors 102 , (each of which may be an IMU, or separate accelerometer and a gyroscope components; for simplicity here the term IMU is used to connote either configuration) to generate signals in response to movement of a digit of the user's hand, an input switch 104 such as a push button, sliding switch, touch sensitive surface, joystick, etc. allowing the user to cause an input signal to be delivered to the system,
- the interface further includes bladders 106 .
- the bladders are designed to be filled with gas or other fluid to activate pressure that simulates touch.
- a gas or fluid source which may be one or more neighboring bladders containing the gas/fluid source.
- an electromechanical actuation system or pump is provided to drive the fluid into the relevant haptic bladder of the user interface device when the processor causes it to do so in order to do so in order to give haptic feedback to the user.
- FIG. 2 there is an IMU for one phalanx of the thumb, and IMU's on each of two phalanx's for the index finger. While not shown in FIG. 2 , two additional IMU's may be positioned on the middle finger, one on each phalanx.
- the switch 104 is preferably positioned on the index finger so that the thumb may be used to activate/engage it. As shown, the switch may be included on the IMU for that finger.
- the haptic interface positions bladders 106 on each of the thumb, index finger and middle finger as represented in FIG. 2 . More specifically, bladders 106 are positioned to contact the pads of these fingers.
- the thumb and index finger each include one such bladder, and the system is programmed to deliver force feedback to the index finger and thumb by inflating one or both of these bladders when the end effector of the surgical instrument is closed into contact with tissue, a needle, or another instrument or material used in the surgical procedure.
- the haptic interface of the FIG. 2 configuration utilizes five bladders positioned on the middle finger. These bladders are positioned on the user's hand to deliver force feedback to the user along three axes of motion of the surgical instrument as it is used during the surgical procedure.
- One pair of bladders which generates force feedback corresponding to forces experienced by the surgical instrument along the pitch axes, is positioned with one bladder on the pad of the finger and one bladder on the back of the finger.
- a second pair of bladders, which generates force feedback corresponding to forces experienced by the surgical instrument along the yaw axis are positioned on the sides of the middle finger.
- the fifth bladder which generates force feedback along the instrument's insertion axis (along its longitudinal axis), is disposed at the tip of the finger.
- the arrangement of IMUs may be used to generate signals used by a process of the surgical system to control electromechanical motion of a surgical instrument held by a robotic manipulator. For example, movement of the thumb and index finger towards/away from one another may be mapped to motion closing the jaws of the surgical instrument. Motion to move the user's hand in pitch and jaw directions (relative to the user's wrist) may be used to move the instrument in pitch and yaw. Forward/rearward motion of the user's arm along the axis of the user's forearm may be mapped to movement of the instrument along the insertion axis, and bending motion of the middle finger or forefinger may be mapped to bending (as shown in FIG. 3 ) or articulation of the bending or articulating portion of a surgical instrument.
- the IMUs, bladders etc. may be mounted to the user's hand in a number of ways.
- the IMUs are worn as rings on the identified digits, and the switch is positioned on one of the rings.
- Bladders are disposed in sleeves placed over the fingertips.
- a hand-mounted device is provided that has the IMUs mounted to it at the corresponding phalanxes, and the bladders and button mounted to it to contact the fingers at locations such as those shown in FIG. 2 .
- the components of the haptic interface are in wired or wireless communication with a control system, as discussed above in the description of the surgical robotic system.
- IMUs are described as the sensors for measuring hand motion, other sensors might be used instead of, or in combination, with the IMUs.
- a hand-mounted haptic interface may include articulating linkages that track motion of the relevant fingers, and sensors that measure movement of the linkages.
- input for some degrees of freedom or actions of the instrument might come from such sensors (e.g. instrument articulation, jaw open-close), while others (axial roll, pitch and yaw) might come from IMUs.
- FIG. 4 schematically represents articulation degrees of freedom corresponding to thumb, index, and middle fingers of a human hand that may be used to generate input using the second type of haptic interface device described here.
- the proximal lines 200 represent fixed members.
- Line 202 represents the single articulation of the thumb portion, and thumb bladder 203 is disposed at the tip of the thumb.
- Lines 204 represent the two articulations of the index finger portion and include bladder 205 at the distal end.
- Lines 206 represent the two articulations of the middle finger portion and have at their end the bladders 207 (which may be the arrangement of five bladders described above).
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- Life Sciences & Earth Sciences (AREA)
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- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Oral & Maxillofacial Surgery (AREA)
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Abstract
Description
Claims (9)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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US16/931,442 US11751967B2 (en) | 2019-07-16 | 2020-07-16 | Fingers-driven haptic interface for robot-assisted surgical system |
US18/457,199 US12059227B2 (en) | 2019-07-16 | 2023-08-28 | Fingers-driven haptic interface for robot-assisted surgical system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US201962874979P | 2019-07-16 | 2019-07-16 | |
US16/931,442 US11751967B2 (en) | 2019-07-16 | 2020-07-16 | Fingers-driven haptic interface for robot-assisted surgical system |
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US18/457,199 Continuation US12059227B2 (en) | 2019-07-16 | 2023-08-28 | Fingers-driven haptic interface for robot-assisted surgical system |
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US20210038332A1 US20210038332A1 (en) | 2021-02-11 |
US11751967B2 true US11751967B2 (en) | 2023-09-12 |
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US16/931,442 Active 2041-05-29 US11751967B2 (en) | 2019-07-16 | 2020-07-16 | Fingers-driven haptic interface for robot-assisted surgical system |
US18/457,199 Active US12059227B2 (en) | 2019-07-16 | 2023-08-28 | Fingers-driven haptic interface for robot-assisted surgical system |
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US18/457,199 Active US12059227B2 (en) | 2019-07-16 | 2023-08-28 | Fingers-driven haptic interface for robot-assisted surgical system |
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USD981558S1 (en) * | 2019-05-14 | 2023-03-21 | Quantum Surgical | Medical robot |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5004391A (en) | 1989-08-21 | 1991-04-02 | Rutgers University | Portable dextrous force feedback master for robot telemanipulation |
US20140215684A1 (en) * | 2013-02-07 | 2014-08-07 | Timothy J. Hardy | Pressure Sensing Glove |
US20160296838A1 (en) | 2015-04-07 | 2016-10-13 | Virtuix Holdings Inc. | Haptic glove for use in a virtual environment |
US20180196515A1 (en) * | 2017-01-11 | 2018-07-12 | International Business Machines Corporation | Simulating obstruction in a virtual environment |
US20180243626A1 (en) * | 2017-02-28 | 2018-08-30 | P Tech, Llc | Devices, systems, and methods |
US20190083187A1 (en) * | 2017-09-19 | 2019-03-21 | Pulse Biosciences, Inc. | Treatment instrument and high-voltage connectors for robotic surgical system |
-
2020
- 2020-07-16 US US16/931,442 patent/US11751967B2/en active Active
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2023
- 2023-08-28 US US18/457,199 patent/US12059227B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5004391A (en) | 1989-08-21 | 1991-04-02 | Rutgers University | Portable dextrous force feedback master for robot telemanipulation |
US20140215684A1 (en) * | 2013-02-07 | 2014-08-07 | Timothy J. Hardy | Pressure Sensing Glove |
US20160296838A1 (en) | 2015-04-07 | 2016-10-13 | Virtuix Holdings Inc. | Haptic glove for use in a virtual environment |
US20180196515A1 (en) * | 2017-01-11 | 2018-07-12 | International Business Machines Corporation | Simulating obstruction in a virtual environment |
US20180243626A1 (en) * | 2017-02-28 | 2018-08-30 | P Tech, Llc | Devices, systems, and methods |
US20190083187A1 (en) * | 2017-09-19 | 2019-03-21 | Pulse Biosciences, Inc. | Treatment instrument and high-voltage connectors for robotic surgical system |
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US20210038332A1 (en) | 2021-02-11 |
US12059227B2 (en) | 2024-08-13 |
US20230397965A1 (en) | 2023-12-14 |
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